KR20150129921A - A force-controllable actuator module for a wearable hand exoskeleton and a hand exoskeleton system using the module - Google Patents
A force-controllable actuator module for a wearable hand exoskeleton and a hand exoskeleton system using the module Download PDFInfo
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- KR20150129921A KR20150129921A KR1020140056534A KR20140056534A KR20150129921A KR 20150129921 A KR20150129921 A KR 20150129921A KR 1020140056534 A KR1020140056534 A KR 1020140056534A KR 20140056534 A KR20140056534 A KR 20140056534A KR 20150129921 A KR20150129921 A KR 20150129921A
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- 230000003993 interaction Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000002474 experimental method Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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Abstract
Description
The present invention relates to a force control actuator module for a hand exoskeleton structure, in particular using a SEA (Series Elastic Actuator) mechanism, the position of the finger link structure is measured by a potentiometer for the human side, Characterized in that the force is controlled by a deflection of an elastic member, such as a linear spring, by means of a potentiometer built in the force control actuator module for hand exoskeleton structure will be.
The exoskeleton system has been one of the areas of greatest interest for applications in rehabilitation or power augmentation, and a strong research is underway. Among the research areas of exoskeleton systems, the interaction with virtual objects using the exoskeleton interface has become one of the most promising applications of the exoskeleton system. Many related studies, such as a head mounted display (HMD) system or tactile sensors, are also being carried out vigorously to achieve virtual reality, which adds to the need for a hand-wearable interaction system .
Since hands are the most abundant source of tactile feedback, sophisticated interaction with virtual objects is practically impossible without adequate force feedback to the hands. In order to develop a wearable interaction system for a virtual reality, such a system must be able to accurately convey a predetermined interacting force from a virtual object to a user, while at the same time ensuring natural movement of the hand. Under such a necessity, the present invention also started from the proposal of a compact driver module that can precisely generate and control a given force.
Small and force-controllable actuator modules are essential in the hand exoskeleton system. Since the actuator module determines most of the size and weight of the system, which greatly affects the natural movement of the arms and fingers, the actuator module must be as small and light as possible. In addition, when a user interacts with objects in the virtual world, the user understands the virtual environment and operates objects based on the transmitted force information. Therefore, force feedback from virtual objects is very important in the hand exoskeleton system. For force mode control, force sensors may be applied to the hand exoskeleton system, but conventional force sensors are very large and heavy, increasing the size and weight of the system.
SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems occurring in the prior art, and it is an object of the present invention to provide a force control driver module for a hand exoskeleton structure that is compact enough to ensure natural movement of a hand and can accurately transmit a predetermined interaction force from a virtual object to a user .
To achieve these and other advantages and in accordance with the purpose of the present invention, a force control driver module for a hand exoskeleton system includes a first potentiometer configured to measure a position of a finger link structure; A second potentiometer configured to measure a position of the actuator, the second potentiometer embedded in the actuator; And an elastic member provided between the driver and the finger link structure, wherein the elastic member functions as a force sensor, and the force transmitted from the actuator is measured by deflection of the elastic member .
And the elastic member is a spring.
The spring is designed based on the maximum gripping force and the required actuator stroke.
Preferably, in order to control the force control driver module, the driver is selected from among linearly movable actuators, for example, a linear motor, and specifically a gear motor linearized by friction compensation, Lt; / RTI >
This force control driver module can be configured to be installed per finger.
On the other hand, another hand exoskeleton system according to the present invention includes a finger link structure,
And a force control driver module, as described above, installed per finger to interact with the finger link structure.
According to the force control actuator for hand exoskeleton structure according to the present invention, since the force control actuator for hand exoskeleton structure is compact enough to ensure the natural movement of the hand without the need for a separate force sensor and can accurately transmit a predetermined interaction force from the virtual object to the user Effect.
1 is a schematic diagram of an SEA mechanism applied to the present invention,
2 is a schematic diagram of a driver module according to an embodiment of the present invention,
FIG. 3 is a graph showing an experimental result on the grip force,
4 is a block diagram of a small motor driver according to an embodiment of the present invention,
Figure 5 shows an embodiment of the driver module made according to Figure 2,
Figure 6 shows the results of friction identification,
7 is a block diagram of a control algorithm according to an embodiment of the present invention;
Figure 8 shows the frequency response of a closed loop control system,
FIG. 9 is a flowchart illustrating a position tracking for a predetermined sine wave trajectory according to an embodiment of the present invention,
FIG. 10 is a flowchart illustrating a method for tracking a position of a predetermined random locus according to an embodiment of the present invention, and
11 illustrates a hand exoskeleton device having a driver module according to an embodiment of the present invention.
[Main Drawings]
100 hand exoskeleton system
10 Force
12 Linear motor (actuator) 13 Second potentiometer (actuator)
14 Elastic member (spring)
20 finger link structure
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately The present invention should be construed in accordance with the meaning and concept consistent with the technical idea of the present invention.
Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.
In the present invention, an SEA (Series Elastic Actuator) mechanism together with an electric motor was applied to a driver module to satisfy two requirements, namely, compact size and force mode control. In the SEA mechanism, the transmitted force is measured by spring deflection between the driver and the human side. The spring acts as a force sensor and thus the size and weight of the actuator module can be reduced. By adjusting the actuator position, the transmitted force is accurately controlled.
Series Elastic Actuator ( SEA ) mechanism
To apply a precise sense of strength to a finger, force mode control is required, which requires real-time force measurement. However, conventional force sensors are not suitable for hand exoskeleton systems due to their size and weight. Therefore, in the hand exoskeleton system according to the present invention, the SEA mechanism is basically applied for compact design and precise force mode control.
In such a mechanism, the force generated by the actuator is transmitted via an elastic element, such as a spring, and the elastic element is installed between the human side and the actuator. The transmitted force is controlled by the spring deformation. The SEA mechanism is as shown schematically in FIG. The transmission force, f, is controlled by the following spring deformation.
Where k is a spring constant, and x A and x H represent the position of the driver and the human side, respectively. The predetermined actuator position is determined by the human joint motion and given force f d as follows.
Here, x Ad represents a predetermined driver position. By controlling the motor position, a given force can be accurately generated, and thus the actuator can interact with human motion by applying the appropriate interaction force according to Equation (1) above.
In the hand exoskeleton system according to the present invention, a SEA mechanism is applied to implement a force controllable driver module, and a schematic diagram of such a
The position of the finger link structure 20 (see FIG. 11) is measured by a
The hand exoskeleton system 100 (see Figure 11) does not require a separate force sensor, since the transmitted force is applied and measured using a linear spring strain. Such a mechanism results in a compact design of the actuator module, and the sensitivity of the measured force is easily controlled by the spring constant.
Design of Linear Spring
The linear spring plays a very important role in the force controllable actuator module according to the invention because the force is transmitted through the spring. Therefore, since the maximum force and the sensitivity of the actuator module are determined by the spring constant, the spring constant must be carefully determined.
The driver module must be able to generate a maximum grip force to apply any amount of interactive force with the fingers from the virtual objects. The grip force was experimentally measured by a Tekscan Grip sensor (Tekscan.Grip System. 2013. http://www.tekscan.com/), as shown in Figure 3 (a). Grip strength measurements were performed by 7 participants (4 male, 3 female, age 24 ± 4.3). They were asked to hold a solid plastic cup of 6.4 cm in diameter for 30 seconds and each participant had five tests. Each finger average grip force was calculated for male and female participants, and the experimental result is as shown in FIG. 3 (b). For all participants, the grip of the thumb was the largest, about 8 N for males and about 6 N for females.
The link structure of the hand exoskeleton system has been designed by the present inventors and the fingers of such a system can be moved by a driver installed on the back of the hand. The simulation results also show that the finger tip can flex to 80 degrees with a driver link motion of about 25 degrees and can be hyper-extended up to 30 degrees. With the exoskeleton structure and driver module shown in FIG. 2, it has been verified that 25 degree rotational motion can be achieved by about 20 millimeter linear motion of the actuator. Thus, a linear motor with a stroke of about 20 mm is needed, which can produce up to 20 mm deformation. Considering the maximum force and strain, the required spring constant is about 0.3 to 0.4 N / mm.
The spring constant is calculated by the following equation.
Where G is the modulus of rigidity, d is the diameter of the spring wire, D is the average diameter of the spring, and n is the number of active coils. Given the size of the link structure and the linear motor, the design parameters were determined to make the spring constant 0.434 N / mm. The determined parameters for the spring design are shown in Table 1 below.
Design of motor driver
The motor driver for controlling the linear motor must also be compact enough to fit into a small actuator module. The motor driver for the linear motor was designed manually as shown in Fig. Fig. 4 (a) shows a circuit design for a driver, and Fig. 4 (b) shows a motor driver actually manufactured. The control input to the motor driver is switched to the PWM signal and a full H bridge circuit is applied for normal / reverse motion of the electric motor. The size of the motor driver is 27 x 14 x 4 mm, which is small enough to be attached to the top of the linear motor.
Driver Manufacture of modules
A force controllable actuator module was actually fabricated as shown in Fig. To meet the required force and stroke range, a linear motor with 20 mm stroke, 9 N maximum force and 25 mm / sec speed was chosen as the main driver. The linear spring designed by the variables in Table 1 was applied. The potentiometer for measuring finger motion was placed on top of the actuator module due to the limited space. The motor driver was attached to the top of the motor and was hidden by a manufactured cover to protect the electric wires. Although the structure in this embodiment is manufactured using a rapid prototyping technology with a nylon material, it will be apparent to those skilled in the art that it is not necessarily limited to such materials and manufacturing techniques, ≪ / RTI > of the invention. The size of the actuator module is about 18 x 77 x 36 mm, and its weight is about 30 g.
Driver Control of modules
Electric motors are commonly used with gear reducers to adjust the force or speed range. The gear reducer amplifies the output force, but it also increases the friction of the motor. If the gear ratio is so high that the geared motor is not back-drivable, the friction must be properly compensated for natural human-robot interaction. Since the friction in the motor corresponds to a major nonlinearity, which interferes with high control performance in position tracking, the force controllability of the actuator module of the present invention is drastically reduced without adequate friction compensation.
In the actuator module according to the present invention, a linear motor having a gear ratio of 30: 1 is used, and the friction of the motor can not be ignored. To compensate for the friction of the motor, the friction model was experimentally determined. Figure 6 shows experimentally ensuring control inputs at various speeds of the motor. Then, the friction is modeled by the following equation.
Where v A represents the speed of the driver. Each item in
The linearized motor model with friction compensation was controlled by a PID controller. The PID gain was tuned by experiment. 7 shows a control block diagram of a driver model.
The frequency response of the closed loop control system is experimentally established (see FIG. 8). As can be seen from this figure, the bandwidth frequency of the driver module is about 10 rad / sec. Taking into account the maximum speed of the linear motor, the experimental results indicate that the control algorithm guarantees the maximum performance of the motor.
The position tracking performance with the control algorithm according to the present invention has been experimentally verified. Figure 9 shows tracking performance with 5 Hz frequency and sinusoidal trajectory of 5 mm size. Linear motors follow a given position well without large tracking errors. To test the tracking performance for an arbitrary trajectory, a predetermined trajectory was set to the potentiometer signal on the human side and moved arbitrarily. Fig. 10 shows experimental results when the human-side potentiometer moves arbitrarily. It can be seen that in any moving state, the tracking error is more irregular than in the case of the sinusoidal signal, but the tracking error is less than 1 mm with a change of about 10 mm at the predetermined position.
Performance Verification
The actuator module according to the present invention was actually assembled to the hand exoskeleton structure. In this design, the generated force is transmitted to the finger tip through the
The force control performance was experimentally verified by the actual exoskeleton structure. In this experiment, a predetermined force was set to a sinusoidal signal having a frequency of 0.5 Hz and a magnitude of 5 N. The fingers moved randomly. By using Equation (2), a predetermined motor position was calculated in real time by a predetermined force and a finger position. The results for force generation performance in any finger movement show that even under any motion of such a finger, the force is generated as desired without significant errors.
Although the present invention has been described in connection with certain exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Therefore, the scope of the present invention should not be limited by the described embodiments, but should be defined by the appended claims and equivalents thereof.
Claims (6)
A first potentiometer (11) configured to measure the position of the finger link structure (20);
A second potentiometer (13) configured to measure the position of the actuator, the second potentiometer (13) embedded in the actuator (12); And
An elastic member (14) provided between the driver and the finger link structure,
, ≪ / RTI >
Wherein the elastic member functions as a force sensor, and a force transmitted from the actuator is measured by deflection of the elastic member.
Wherein the elastic member is a spring.
Wherein the spring is designed based on a maximum gripping force and a desired actuator stroke.
Wherein for control of the force control driver module, the driver is selected from linearly movable actuators.
Wherein the force control driver module is configured to be installed per finger.
A finger link structure 20; And
The force control driver module (10) according to any one of claims 1 to 5, which is provided per finger to interact with the finger link structure,
Wherein the hand exoskeleton system comprises:
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020140056534A KR101682949B1 (en) | 2014-05-12 | 2014-05-12 | A force-controllable actuator module for a wearable hand exoskeleton and a hand exoskeleton system using the module |
| PCT/KR2015/004411 WO2015174670A1 (en) | 2014-05-12 | 2015-04-30 | Force control actuator module for a hand exoskeleton structure, and a hand exoskeleton system using same |
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| KR1020140056534A KR101682949B1 (en) | 2014-05-12 | 2014-05-12 | A force-controllable actuator module for a wearable hand exoskeleton and a hand exoskeleton system using the module |
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| KR20150129921A true KR20150129921A (en) | 2015-11-23 |
| KR101682949B1 KR101682949B1 (en) | 2016-12-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101849477B1 (en) * | 2016-11-30 | 2018-04-18 | 한국로봇융합연구원 | Robot for hand rehabilitation |
| KR101989274B1 (en) * | 2018-03-16 | 2019-09-30 | 이권우 | Arm support mechanism |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI620559B (en) * | 2016-12-30 | 2018-04-11 | 富伯生醫科技股份有限公司 | Wearable Finger Rehabilitation Device |
| CN108261311B (en) * | 2016-12-30 | 2020-02-04 | 富伯生医科技股份有限公司 | Wearable finger rehabilitation device |
| CN109199784B (en) * | 2017-07-04 | 2024-03-26 | 中国科学院沈阳自动化研究所 | Flexibly-driven hand rehabilitation equipment and feedback control circuit thereof |
| CN107813333B (en) * | 2017-09-05 | 2021-04-27 | 芜湖瑞思机器人有限公司 | Food grabbing mechanism for high-speed parallel robot |
| CN206925875U (en) * | 2017-09-29 | 2018-01-26 | 富准精密电子（鹤壁）有限公司 | Clamping device and the manipulator with the clamping device |
| CN112656637A (en) * | 2019-10-15 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation device and control method thereof |
| CN110871450B (en) * | 2019-11-28 | 2021-07-27 | 季华实验室 | Dexterous finger mechanism, manipulator and control method |
| KR102482596B1 (en) * | 2021-03-18 | 2022-12-30 | 성균관대학교산학협력단 | Locking mechanism for soft linear actuator |
| CN113183168A (en) * | 2021-04-22 | 2021-07-30 | 常州工学院 | Clamping mechanism |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100362733B1 (en) * | 1999-09-21 | 2002-11-29 | 최혁렬 | Semi-direct drive hand exoskeleton |
| KR100447907B1 (en) * | 2001-12-07 | 2004-09-13 | 한국과학기술연구원 | Force feedback device using hydraulic cylinder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2004326417A (en) * | 2003-04-24 | 2004-11-18 | Institute Of Physical & Chemical Research | Direct-acting actuator unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100362733B1 (en) * | 1999-09-21 | 2002-11-29 | 최혁렬 | Semi-direct drive hand exoskeleton |
| KR100447907B1 (en) * | 2001-12-07 | 2004-09-13 | 한국과학기술연구원 | Force feedback device using hydraulic cylinder |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101849477B1 (en) * | 2016-11-30 | 2018-04-18 | 한국로봇융합연구원 | Robot for hand rehabilitation |
| KR101989274B1 (en) * | 2018-03-16 | 2019-09-30 | 이권우 | Arm support mechanism |
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| KR101682949B1 (en) | 2016-12-07 |
| WO2015174670A1 (en) | 2015-11-19 |
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